Arrangement for surface treatment, especially the cleaning of the surfaces of large objects

ABSTRACT

The invention relates to an arrangement for cleaning the surfaces of aircraft with a large manipulator having a rotating brush head consisting of several extensions (12, 12&#39;, 12&#34;, 14) pivotable on articulations (20, 22, 24, 28) by means of hydraulic drive systems (30) and fitted on a rotary bracket (11) of a motor-driven chassis (10) with its base extension (12) fitted on an angled mast to rotate about a main axis (11) and a multiple articulation (16) on the end extension (14) at the free end. To provide starting auxiliary for the chassis (10), the adaptation of the large manipulator to the aircraft and/or monitoring facilities for the cleaning process, there is an opto-electronic distance camera (40) and a computer-supported electronic evaluation system to which the output signals of the distance camera (40) are applied.

The invention relates to an arrangement for the surface treatment, inparticular for the surface cleaning of large objects, like aircrafts,ships or building, comprising a large manipulator, which has anarticulated mast, which consists Of several arms pivotal with respect toone another on pivot joints by means of hydraulic or motor drivemechanisms, and which is rotatably supported with its base arm about avertical axis on a pivot-bearing block of an apparatus carrierpreferably designed as a motor-driven undercarriage, and has a tool,which is arranged on the last arm of the articulated mast or on the freeend of a multiple joint arranged on the last arm, and is preferablydesigned as a rotating brush head.

DE-A-40 35 519 has already suggested to equip a large manipulator with aremote-controllable brush head. The known large manipulator has anarticulated mast composed of several arms pivotal with respect to oneanother at their ends. The base arm of the articulated mast is supportedrotatably about a vertical axis on a pivot-bearing block arranged on amotor-driven undercarriage, and the last arm of the articulated mast hasa multiple joint, which can be provided with a brush head. It is alsoknown from this reference to equip the brush head with sensors, whichenable controllable guiding of the brush head relative to the surface tobe treated according to a sensor signal, which occurs on the sensorduring the cleaning operation and which can be read. The articulatedmast has, in the known arrangement, a total of five arms collapsibleagainst one another in a multiple-Z-fold, and which can be placed withthe base arm lying on top and the last arm at the bottom with themultiple joint and brush head on the undercarriage for transportingpurposes. In order to be able to work in the overhead operation, thearticulated mast must first be lifted off from the undercarriage throughthe base joint of the pivot-bearing block and must be rotated at 180°about the pivot axis of the pivot-bearing block into the operatingposition. In particular, when working near the undercarriage and whenworking in halls, the limited pivoting range of the base joint of only100° to 110° is hereby furthermore disadvantageous.

The basic purpose of the invention is to develop an arrangement of theabove-identified type, with which even when the apparatus carrier, whichcarries the large manipulator, is inexactly positioned and oriented infront of the large object to be treated, a collision-free fullyautomatic treatment, even of surfaces with a complicated design, ispossible.

The basic thought of the solution of the invention is that with anopto-electronic distance camera arranged on the large manipulatoralignable with respect to the large object to be treated and withcalculator-supported evaluating electronics receiving the distance imagesignals of the distance camera act as a start-up aid for the apparatuscarrier, designed as an undercarriage, and/or a locating of the largemanipulator relative to the large object to be treated, and/or amonitoring of the treatment operation is possible. The distance camerais arranged on a console supported on the side of the pivot-bearingblock opposite the articulated mast, in the collapsed state, supportedon the apparatus carrier, and is rotatable about its vertical axistogether with the articulated mast and is also rotatable about itshorizontal axis. In order to be able to utilize the distance camera notonly in the collapsed state of the articulated mast, but also in itsoperating position for measurement and monitoring tasks, it is suggestedaccording to a preferred development of the invention, that the base armbe supported pivotally with a pivot angle of approximately 180° about ahorizontal axis on the pivot-bearing block, and that in the collapsedstate of the articulated mast, the base arm be supported on theundercarriage under the other arms and the last arm is arranged abovethe other arms with the multiple joint pointing in the direction of thepivot-bearing block and the tool. With this structure, it is achievedthat the articulated mast does not need to be rotated about the verticalaxis of the pivot-bearing block when it changes from the collapsedresting position into the operating position, so that the distancecamera connected to the pivot-bearing block is aligned in the directionof the large object both during the start-up phase, locating operation,and also during the subsequent treatment operation. Possible correctionsand guiding can be carried out through the axes of movement of thedistance camera and/or of the console.

In order to achieve a minimal arrangement height in the collapsed stateof the manipulator, it is suggested according to an advantageousdevelopment of the invention, that the base arm have a concavecurvature, which opens upwardly in its state remote from theundercarriage, for receiving the second arm hinged to the base arm inits collapsed state. A further improvement in this respect is achievedwhen the curvature of the base arm is designed such that, with thearticulated mast collapsed the pivot joints provided at both ends of thesecond arm lie lower than the pivot joint of the base arm on thepivot-bearing block. Both the base arm and also the second arm can, inthis case, be designed bend-free with a minimal arrangement height. Thusthere is no torsional stress in the joints due to the weight of thearms, which would cause vibrations under a dynamic load, and which couldnot be easily damped by the cylinders arranged in the plane of thearticulated arms.

In order to save space, it is possible to laterally bend the last armwith respect to the third arm, so that the tool with the articulatedmast being collapsed can be supported near the pivot joint of the basearm on the pivot-bearing block. The bend is tolerable at this pointbecause the torsion moments occurring there are small due to its own lowweight. Furthermore, it is possible to design the last arm relativelyshort and box-shaped so that torsional vibrations can be substantiallyabsorbed by a rigid construction.

It can be advantageous for reasons of symmetry, when besides the lastarm, also the third arm is bent, namely, in such a manner that the bendof the fourth arm is being partially compensated for, so that themultiple joint moves in direction of the axis of symmetry of thearticulated mast. A further compensation in this respect can be achievedby the multiple joint having three pivot points driven by a motor andhaving three axes arranged one behind the other and being alternatelyperpendicular to one another, and having a linear part connected to thelast pivot point, aligned with its pivot axis, driven by a motor, andaligned in the collapsed state parallel with respect to the last arm.With this it is possible that the multiple joint is pivoted about itsown axis in the direction of the axis of symmetry while compensating forthe bend.

In order to be able to cover a sufficient pivoting range with the basearm, the base arm and its driving mechanism, which is designed as ahydraulic cylinder, are advantageously coupled through a Watt's linkchain to the pivot-bearing block. The link chain has, for this purposeadvantageously, a coupling plate hinged to the base arm and to thepiston rod of the hydraulic cylinder above the pivot joint, and has aconnecting rod hinged to the pivot-bearing block and to the couplingplate with its ends below the pivot joint, and is curved oppositely tothe base arm. This structure results in a pivot angle of the base arm of180° despite the spacially limited conditions in the area of thepivot-bearing block.

In order to be able to guarantee, during the overhead operation, an aslarge as possible range from the direct vicinity of the apparatuscarrier to the complete extent of the articulated mast with the leastpossible energy input, accounting for the weight of the articulatedmast, and with high mobility without a change in the configurationduring the course of the movement operation, it is suggested accordingto the invention that the pivot angle between the base arm and thesecond arm is approximately 180° and between the second and third armapproximately 270°, whereas the pivot angle between the third arm andthe last arm should be 180° to 270°.

In order to compensate for a course angle which cannot be travelledduring the start-up phase, possibly because of obstacles, theundercarriage can be equipped with a combined lifting and pivotingmechanism having a center turning plate and two driving rollers, whichcan be aligned concentrically with respect to the turning plate and canbe arranged at an angular distance from one another. The rollers can betogether lowered onto the ground while lifting the undercarriage. Theundercarriage when lifted off from the ground can then be aligned aroundthe axis of the turning plate with the help of the driving rollers intothe prescribed direction with respect to the large object.

This alignment can, however, basically be also carried out withsoftware, by having the pivotally installed distance camera and/or thearticulated mast guided about its vertical axis.

The invention will be discussed in greater detail hereinafter inconnection with some exemplary embodiments schematically illustrated inthe drawings, in which:

FIG. 1a and b are a side view and a top view of a large manipulator withwashing brushes arranged on an undercarriage;

FIG. 1c is a top view corresponding with FIG. 1b of a modified exemplaryembodiment of a large manipulator with a bent third arm;

FIG. 2 is a side view of the large manipulator according to FIGS. 1a andb during the washing of an aircraft;

FIGS. 3a and b show an exemplary embodiment of a large manipulator witha lifting and pivoting mechanism, which manipulator is modified withrespect to FIGS. 1a and b.

The mobile large manipulator illustrated in the drawings consistsessentially of an articulated mast 13, which is rotatably supported withits base arm 12 about a vertical axis 11' on a pivot-bearing block 11 ofa motor-driven undercarriage 10, a multiple joint 16 arranged on thelast arm 14 of the articulated mast 13, and a brush head 18 releasablyfastened at the free end of the multiple joint. The four arms 12, 12',12" and 14 of the articulated mast 13 are connected with one another attheir ends facing one another limited pivotally about horizontal axes atjoints 20, 22, 24. The pivoting is done by means of hydraulic cylinders27 arranged at suitable points between the arms. The base arm 12 issupported pivotally at 180° about a pivot-bearing block 11 on ahorizontal bearing 28 by means of a hydraulic cylinder 30 and a Watt'slink chain consisting of a coupling plate 29 and a banana-shaped curvedconnecting rod 31. The base arm 12 is positioned in the collapsed stateunder the other arms 12', 12", 14, whereas the last arm 14 with themultiple joint 16 pointing toward the pivot-bearing block 11 and thebrush head 18 is positioned above the other arms 12, 12', 12". The basearm 12 is curved in its longitudinal extent such that in the collapsedstate its upwardly pointing edge 32 forms a concave trough for receivingthe collapsed second arm 12'. The base arm 12 and the second arm 12' arebent, whereas the last arm 14 has a lateral bend 33, which makes itpossible to place the multiple joint 16 and the brush head 18 in thecollapsed state next to the arms 12, 12', 12". The third arm 12" is notbent in FIG. 1b, whereas in the exemplary embodiment according to FIG.1c, it is bent toward the side opposite the last arm 14. Because of thebend in the third arm, the bend of the fourth arm is partially beingcompensated for since the multiple joint 16 with the connected brushhead 18 moves in direction of the axis of symmetry 19 of the articulatedmast.

This arrangement makes it possible to cover with the brush head 18 anytype of surface contours within the plane created by the arms 12, 12'12", 14. In addition, it is possible with the help of the multiple joint16 adjustable by a motor to move the brush head 18 around pivot andthrust axes relative to the last arm 14. As is shown in FIGS. 1b and 1c,the multiple joint 16 consists for this purpose essentially of threepivot points 60, 62, 64 with axes 60', 62', 64', which are perpendicularto one another, and a telescopic linear part 66 connected to the lastpivot point 64, the telescopic axis 66' of which part 66 is aligned withthe pivot axis 64'. The brush head 18 is coupled through a further pivotpoint 68 with the orientation axis 68', with the orientation axis 68'being perpendicular to the telescopic axis 66', to the multiple joint16. In this manner, an axis shift results between the axis 60' of thepivot point 60 and the axes 64' and 66' of the pivot point 64 and of thelinear part 66, which axis shift results in a short design and enablesby rotation about the axis 60' an additional compensation of the bend ofthe last arm 14 in direction of the axis of symmetry 19. Such acompensation is of importance since during programming of the washingpaths, the symmetry characteristics of the airplane and of the largerobot can be utilized.

The pivot-bearing block 11 has a console 34 on its side for receiving anopto-electronic distance camera 40, with the console 34 lying oppositethe articulated mast in the collapsed state. The distance camera 40 isarranged on the console 34 at a sufficient height above theundercarriage 10 in order to be able to measure from the viewing window42 significant points of the object of measurement 44. The distancecamera is a 3D-laser scanner which scans a three-dimensional spacewithin the viewing window 42 and digitizes same with respect to thedistance from an object of measurement 44. The distance camera 40 worksusing a laser beam with a specific cycle frequency through the openingangle of the viewing window 42. The evaluation of the distance signals,which result from a time-difference measurement of reflected laser beamsshows whether and at what distance a reflecting surface exists.

In order to move the large manipulator into a washing position in frontof the aircraft 44, the manipulator must be specifically located duringthe start-up operation, so that all surface areas to be covered during awashing program lie within the reach and pivoting range of thearticulated mast 13 with the washing brush 18. The digitized image dataproduced through the distance camera 40 is evaluated by an evaluatingcircuit and an on-board calculator for example a computer. A storagemedium of the on-board calculator stores sections of an aircraft 44 thatare significant for each aircraft type to be treated with reference tothe viewing window 42 of the distance camera 40 as reference images. Asa start-up aid, the distance camera continuously produces a distanceimage of the respective aircraft section and the on-board calculatorcompares it with the stored reference image. Direction and position datacan be derived therefrom in the on-board calculator, which data informsthe driver of the positioning direction and the distance. It is the goalof the start-up aid to position the large manipulator in a specifiedparking field within the reach of the aircraft 44. After reaching theparking field, the undercarriage 10 is supported on the ground byswinging out and lowering the support legs 50, and is thusly positionedrelative to the aircraft.

The modified exemplary embodiment illustrated in FIGS. 3a and b hasadditionally a lifting and pivoting mechanism on the undercarriage 10,which has a center turning plate 36 and two driving wheels 38concentrically alignable with respect to said turning plate 36 andangularly spaced from one another. It is possible with this mechanism tolift the undercarriage 10 from the ground by lowering the turning plate36 and the driving wheels 38, and to pivot said undercarriage about thevertical axis defined by the turning plate with the help of the drivinggears into the desired angular position in the direction of the doublearrow 39 with reference to the aircraft 44.

The large manipulator can then be located relative to the aircraft 44.This is also accomplished with the help of the distance camera 40through a comparison with a stored reference sample. After the locatinghas been done, the physical measurement values of the inclinationindicator are detected by the distance camera 40 and are placed to zerothrough an initialization program. The relative angle is then taken intoconsideration during a movement of the articulated mast 13 based on theinclination of the base in the movement program.

When these preparations have been made and the washing program belongingwith the located base has been selected, the actual washing operationcan start. The articulated mast 13 is unfolded for this purpose. Bysuccessively calling up the joint coordinates from a data file, desiredvalues are obtained, which are controlled by the washing brush, wherebythe actual and desired-value comparison occurs at each individual jointthrough associated coordinate indicators. Fine compensations must becarried out because of deformations of the aircraft and of thesubstructure, inexactnesses in the process, and dynamic errors of thedevice. This can be achieved with an additional sensory mechanism, whichcompensates for the mentioned errors by measuring the bearing pressureand by supplying it to the auxiliary axes of the multiple joint 16. Theauxiliary axes are designed as a telescopic axis and a pivot axis,thereby compensating for position errors and the orientation errors ofthe brush head 18.

Since the distance camera 40, in the chosen overhead operation, isalways aligned in an operating direction, it can move with thearticulated arm during the course of the washing program and can beutilized to monitor for collisions. The distance camera 40 can herebymeasure individual joints, the aircraft 44, or other objects in heoperating area and communicate the measured distances to a controllerfor controlling the articulated arm with respect to these, therebypreventing collisions. This type of operation could be important when,for example, a measured-value receiver breaks down at one of the jointsand delivers incorrect measured values, which are not recognized by theoperator or by the calculator.

In conclusion the following is to be stated: The invention relates to anarrangement for the surface cleaning of aircrafts with a largemanipulator having an articulated mast consisting of several arms 12,12', 12", 14 pivotal with respect to one another on pivot joints 20, 22,24, 28 by means of hydraulic driving mechanisms 30, and is rotatablysupported with its base arm 12 about a vertical axis 11' on apivot-bearing block 11 of a motor-driven undercarriage 10, and has arotating brush head 18 arranged at the free end of a multiple joint 16arranged on the last arm 14. In order to enable a start-up aid for theundercarriage 10, a measuring of the location of the large manipulatorrelative to the aircraft, and/or a monitoring of the washing operation,an opto-electronic distance camera 40 alignable with respect to theaircraft 44 to be treated, and calculator-supported evaluatingelectronics loadable with the output signals of the distance camera 40are provided on the pivot-bearing block 11 of the articulated mast.

We claim:
 1. An arrangement for the surface treatment of large objects,comprising a large manipulator having an articulated mast, thearticulated mast consisting of several arms which are pivotallyconnected to one another on pivot joints, driving means for pivotingadjacent ones of said several arms at said pivot joints, one of saidseveral arms being a base arm rotatably supported about a vertical axison a pivot-bearing block of an apparatus carrier, and said mast having atool arranged on one of a last arm of the several arms and a multiplejoint having a free end arranged on the last arm, the articulated masthaving a collapsed state supported on the apparatus carrier having thebase arm being supported under the other arms on the apparatus carrier,and the last arm being arranged with the multiple joint extending in adirection toward the pivot-bearing block and the tool being adjacent theother arms, wherein the improvement comprises an opto-electronicdistance camera being aligned with respect to the large object to betreated, being arranged on a console mounted on a side of thearticulated mast in the collapsed state supported on the apparatuscarrier, and being rotatable about the vertical axis together with thearticulated mast, and calculator-supported evaluating electronicsreceiving output signals from the distance camera for performing atleast one of locating the large manipulator relative to the large objectto be treated and monitoring the treatment operation.
 2. The arrangementaccording to claim 1, wherein said tool is a rotating brush head.
 3. Thearrangement according to claim 1, wherein the distance camera isarranged on the large manipulator near the pivot-bearing block by apositioning means for selectively rigidly securing the distance camerato the console, for pivoting the distance camera about a vertical axis,and for inclining the distance camera about a horizontal axis.
 4. Thearrangement according to claim 1, wherein the base arm is supportedpivotally having a pivot angle of approximately 180° about a horizontalaxis on the pivot-bearing block.
 5. The arrangement according to claim1, wherein the base arm has a concave curvature opening upwardly remotefrom the apparatus carrier for receiving a second arm of the severalarms hinged to the base arm in the collapsed state.
 6. The arrangementaccording to claim 5, wherein the pivot joints provided at both ends ofthe second arm lie lower than a base pivot joint connecting the base armto the pivot-bearing block when the articulated mast is in the collapsedstate.
 7. The arrangement according to claim 1, wherein the base arm anda second arm of the several arms attached at one end of the base armboth extend bend-free.
 8. The arrangement according to claim 7, whereinthe last arm is laterally bent with respect to a third arm of theseveral arms, and wherein the tool is supported near the pivot joint ofthe base arm on the pivot-bearing block when the articulated mast is inthe collapsed state.
 9. The arrangement according to claim 8, whereinsaid second and third arms are pivotally connected at one pivot joint toeach other.
 10. The arrangement according to claim 8, wherein the thirdarm is laterally bent with respect to the second arm toward the sideopposite the last arm.
 11. The arrangement according to claim 1, whereinthe multiple joint has three pivot points driven by a motor, said threepivot points defining three axes arranged orthogonal to each other, andhas a telescopible linear part connected to a last pivot point of thethree pivot points, the telescopible linear part being aligned with thepivot axis of the last pivot point, being drivable by a motor, and beingaligned in the collapsed state of the articulated mast parallel withrespect to the last arm, wherein the tool is coupled through a furtherpivot point having an orientation axis perpendicular with respect to thetelescopic axis of the telescopible linear part to the multiple joint,and the axes of the pivot point on the side of the last arm and of thelinear part are arranged in planes, which are laterally offset withrespect to one another and are parallel to one another.
 12. Thearrangement according to claim 1, wherein the driving means for the basearm is a hydraulic cylinder, and wherein the base arm and the drivingmeans for the base arm are coupled with the pivot-bearing block througha Watt's link chain.
 13. The arrangement according to claim 12, whereinthe Watt's link chain has a coupling plate hinged above the pivot jointto the base arm and to a piston rod of the hydraulic cylinder, and aconnecting rod hinged to the pivot-bearing block and to the couplingplate, and is curved oppositely relative to the base arm, ends of theconnecting rod being positioned below the pivot joint.
 14. Thearrangement according to claim 1, wherein the maximum pivot anglebetween the base arm and a second arm of the several arms isapproximately 180° and between the second arm and a third arm of theseveral arms is approximately 270°.
 15. The arrangement according toclaim 14, wherein the maximum pivot angle between the third arm and thelast arm is in a range of 180° to 270°.
 16. The arrangement accordingclaim 1, wherein the apparatus carrier has a combined lifting andpivoting mechanism including a center turning plate and two drivingwheels concentrically alignable with respect to the turning plate andarranged at an angular distance from one another, the driving wheels arelowerable into contact with the ground for lifting the undercarriage.